Lua Scripting Documentation

edwardme · September 5, 2019, 5:27pm

Hi All,
Does anyone have any information on where to find documentation for Lua Scripting announced for 3.7?

Thank you!

edwardme · September 5, 2019, 5:32pm

Found it.

ArduPilot/ardupilot_wiki/blob/master/dev/source/docs/lua-scripts.rst

.. _lua-scripts:

===========
Lua Scripts
===========

ArduPilot has introduced experimental support for `Lua <https://www.lua.org/>`_ scripting.
The scripting layer provides a safe, sandboxed environment for new behaviours to be added to the autopilot.
Lua scripts are run in parallel with the flight code on the autopilot. Lua is a garbage collected, imperative programming language.

What can scripts currently do:

- Multiple scripts can be run at once
- Monitor the vehicle state
- Start to manipulate vehicle state

Scripts are run at a low priority on the system, which allows the RTOS to ensure that the core flight code will continue to execute even if a script is taking a long time to process.
In order to allow multiple scripts to be run, each script is allocated a fixed time chunk (measured in VM instructions) in which it is expected to complete it’s processing.
The script is allowed to specify a new callback function and time at which it should be called, which allows it to be run continuously.
While this serves to bound the worst case execution time safely, scripts are not guaranteed to be run on a reliable schedule.

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